The invention discloses a reverse parking control method for an automatic driving vehicle. The method comprises the following steps: step 1, establishing an automatic driving vehicle discretization model; step 2, designing a vehicle state constraint and a vehicle control input constraint based on an actual backing parking scene; 3, according to the discretization model of the automatic driving vehicle in the step 1 and the vehicle state constraint in the step 2, a terminal-free model prediction control algorithm with the vehicle yaw angle and the vehicle position as switching conditions is designed; and 4, solving the minimum stable prediction time domain of the algorithm in the patent. According to the method, a simple vehicle kinematic model is used, vehicle state constraints and reference quantities are switched according to the current vehicle state, path planning and vehicle control of backing-up parking are achieved at the same time through a terminal-free model predictive control algorithm based on the vehicle state switching condition, and finally backing-up parking safety and accurate control are achieved. According to the control precision, the transverse error can reach 0.011 m, the longitudinal error can reach-0.036 m, and the yaw angle error can reach 0.008 rad.

    本发明公开了一种自动驾驶车辆的倒车入库控制方法,该方法内容包括:步骤1,建立自动驾驶车辆离散化模型;步骤2,基于实际倒车入库场景设计车辆状态约束和车辆控制输入约束;步骤3、根据步骤1的自动驾驶车辆离散化模型和步骤2的车辆状态约束,设计以车辆横摆角和车辆位置为切换条件的无终端模型预测控制算法;步骤4,求解本专利算法的最小稳定预测时域。本发明方法使用简单的车辆运动学模型,根据当前车辆状态切换车辆状态约束和参考量,通过基于车辆状态切换条件的无终端模型预测控制算法同时实现了倒车入库的路径规划与车辆控制,最终实现对倒车入库安全和精确控制,控制精度可达横向误差为0.011m、纵向误差为‑0.036m、横摆角误差为0.008rad。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Reversing parking control method for autonomous vehicle


    Weitere Titelangaben:

    一种自动驾驶车辆的倒车入库控制方法


    Beteiligte:
    YANG HONGJIU (Autor:in) / WANG ZHENGYU (Autor:in) / LI HONGBO (Autor:in) / ZHAO HAI (Autor:in)

    Erscheinungsdatum :

    2022-07-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



    Automatic parking reversing parking stall judgment method, electronic equipment and vehicle

    ZHANG FANG / ZHANG GUANGRONG | Europäisches Patentamt | 2020

    Freier Zugriff


    Reversing parking guiding system and method

    CHEN ZIBIN | Europäisches Patentamt | 2022

    Freier Zugriff

    CONTROL DEVICE AND METHOD FOR AUTONOMOUS PARKING VEHICLE AND AUTONOMOUS PARKING CONTROL METHOD

    PARK YONG HEE / PARK MIN GYU / SON HYUN JIN et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    AUTONOMOUS VEHICLE PARKING CONTROL SYSTEM

    KIM JAE HWAN | Europäisches Patentamt | 2022

    Freier Zugriff